Motor control of surgical stapler with controlled impact at end of firing stroke
A software for driving a motor in a powered surgical stapler can include a pausing monitoring process that may be effective to improve staple form and/or increase localized compression of tissue. The pausing monitoring process monitors firing speed of a firing bar driving by the motor and pauses the motor when the firing speed passes a speed error threshold. Before pausing the motor, the pausing monitoring process may also require that a pulse width modulated (PWM) electrical signal driving the motor has a duty cycle over a duty cycle threshold while the firing speed is beyond the speed error. The pausing monitoring process may force the firing bar through a predetermined distance immediately after pausing. The pausing monitoring process may be limited in the number of pauses that can be taken during a firing stroke.
1. A powered surgical stapler comprising:
a firing assembly configured to translate along a longitudinal axis such that translation of the firing assembly in a distal direction, during a firing stroke, is configured to deploy staples from an end effector;
a motor assembly mechanically coupled to the firing assembly and configured to drive the firing assembly along the longitudinal axis; and
a speed control circuit configured to:
drive the firing assembly to an initial target speed through an initial distance of the firing stroke,
drive the firing assembly to an increased target speed through a middle distance of the firing stroke that is distal to the initial distance such that the increased target speed is greater than the initial target speed,
drive the firing assembly to a decreased target speed through a final distance of the firing stroke that is distal to the middle distance such that the decreased target speed is less than the increased target speed,
detect an impact of a distal portion of the firing assembly to the end effector, and
cease driving the firing assembly in response to the detection of the impact.
2. The powered surgical stapler of claim 1 , wherein the final distance is determined based at least in part on an inertia of the firing assembly and/or motor assembly.
3. The powered surgical stapler of claim 1 , wherein the final distance is determined based at least in part on a dynamic braking capacity of the motor assembly.
4. The powered surgical stapler of claim 1 , wherein the decreased target speed is based at least in part on a dynamic braking capacity of the motor assembly.
5. The powered surgical stapler of claim 1 , wherein the final distance is determined based at least in part on an articulation angle of the end effector.
6. The powered surgical stapler of claim 1 , wherein the speed control circuit is configured to set the decreased target speed based at least in part on a configuration of the end effector.
7. The powered surgical stapler of claim 6 ,
wherein the firing assembly is configured to is configured to deploy staples from a cartridge during the firing stroke,
wherein the configuration of the end effector comprises a cartridge comprising a cartridge type, and
wherein the speed control circuit is configured to set the decreased target speed based at least in part on the cartridge type.
8. The powered surgical stapler of claim 1 , wherein the speed control circuit is configured to set the final distance based at least in part on a cartridge type of a cartridge of the end effector.
9. The powered surgical stapler of claim 1 ,
wherein the speed control circuit is configured to control speed of the firing assembly based at least in part on a limiting trigger,
wherein the limiting trigger comprises at least one of a current draw by a motor of the motor assembly, a load force on the motor, a speed differential of the firing assembly, or a knife sensing system, and
wherein a threshold value of the limiting trigger in the final distance of the firing stroke that is less than a threshold value of the limiting trigger in the middle distance of the firing stroke.
10. The powered surgical stapler of claim 9 , wherein the speed control circuit is configured to detect the impact based at least in part on a measurement of the limiting trigger exceeding the threshold value in the final distance.
11. The powered surgical stapler of claim 9 , wherein the speed control circuit is configured to sample the limiting trigger at a greater sampling rate in the final distance compared to a sampling rate of the limiting trigger in the middle distance.
12. The powered surgical stapler of claim 1 ,
wherein the speed control circuit is configured to determine a position of the distal portion of the firing assembly based at least in part on an electrical signal from a switch coupled to the end effector,
wherein the switch is configured to close in response to the distal portion of the firing assembly encountering the switch during the firing stroke, and
wherein the speed control circuit is configured to drive the firing assembly to the decreased target speed in response to receiving an electrical signal from the switch indicating closure of the switch.
13. The powered surgical stapler of claim 12 , wherein the final distance is determined based at least in part on variation in closure timing of the switch.
14. The powered surgical stapler of claim 1 , wherein the decreased target speed is less than the initial target speed.
15. The powered surgical stapler of claim 1 , wherein the decreased target speed is about 2 mm/s to about 5 mm/s.
16. The powered surgical stapler of any one of claim 1 , wherein the final distance is about 15 mm to about 5 mm.
17. A method for controlling a firing stroke of a surgical stapler, the method comprising:
driving a firing assembly to an initial target speed through an initial distance of the firing stroke;
driving the firing assembly to an increased target speed through a middle distance of the firing stroke that is distal to the initial distance such that the increased target speed is greater than the initial target speed;
driving the firing assembly to a decreased target speed through a final distance of the firing stroke that is distal to the middle distance such that the decreased target speed is less than the increased target speed;
detecting an impact of a distal portion of the firing assembly to an end effector; and
ceasing the driving of the firing assembly in response to detecting of the impact.
18. The method of claim 17 , comprising:
setting the final distance based at least in part on an inertia of the firing assembly and/or motor assembly.
19. The method of claim 17 , comprising:
setting the final distance based at least in part on a dynamic braking capacity of the motor assembly.
20. The method of claim 17 , comprising:
setting the decreased target speed based at least in part on a dynamic braking capacity of a motor assembly of the surgical stapler.